Design of a Spherically Actuated Human Interaction Robot Head-Reference-Cited by-同舟云学术

Design of a Spherically Actuated Human Interaction Robot Head

Published:2012-04-25 Issue:5 Volume:134 Page:
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Hanumara Nevan C.¹,Slocum Alexander H.²,Mitamura Takeshi³

Affiliation:

1. Mem. ASMEMIT Mechanical Engineering, 77 Massachusetts Avenue, 3-470, Cambridge, MA 02139

2. McVicar Faculty Fellow Fellow ASME Pappalardo Professor of Mechanical Engineering,MIT Mechanical Engineering,77 Massachusetts Avenue, 3-445, Cambridge, MA 02139

3. Mobility & Services Laboratory, Nissan Research Center, Nissan Motor Co., Ltd., 1-1, Morinosatoaoyama, Atsugi, Kanagawa 243-0123, Japan

Abstract

This paper presents the development of a mechanism for actuating a sphere holonomically about 3 degrees of freedom (DOF). The target application is a robot head for mounting inside a vehicle to provide a driver with companionship, location specific information, and other assistance, via head motions in conjunction with auditory communication. Prior art is reviewed and two designs are presented: One mechanism is located below the sphere and provides an unlimited range of motion (ROM), and the other is contained entirely within the sphere but has a limited range of motion. The latter is stable and easily mounted, provides a clean appearance, and is particularly suited to human interaction applications.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/doi/10.1115/1.4006263/5928028/055001_1.pdf

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